CN112419405B

CN112419405B - Target tracking joint display method, security system and electronic equipment

Info

Publication number: CN112419405B
Application number: CN201910783843.6A
Authority: CN
Inventors: 张尚迪
Original assignee: Hangzhou Hikvision Digital Technology Co Ltd
Current assignee: Hangzhou Hikvision Digital Technology Co Ltd
Priority date: 2019-08-23
Filing date: 2019-08-23
Publication date: 2024-03-08
Anticipated expiration: 2039-08-23
Also published as: CN112419405A

Abstract

The embodiment of the invention provides a target tracking joint display method, a security system and electronic equipment, wherein radar coordinates of a target to be detected are acquired according to radar detection data of the target to be detected, which are detected by radar equipment in a monitoring area, the radar coordinates are converted into PT coordinates of the target to be detected in a field of view of a dome camera according to the radar coordinates of the target to be detected and a conversion relation between the radar coordinates and PT coordinates of a dome camera, the PTZ coordinates of the dome camera are adjusted according to the PT coordinates of the target to be detected, the image coordinates of the target to be detected in an image picture shot by the dome camera are determined according to the PTZ coordinates and the PT coordinates of the target to be detected, and marks representing the target to be detected are overlapped and displayed at positions corresponding to the image coordinates in the image picture. According to the scheme, the detection target to be processed can be intuitively displayed in the actual scene image shot by the dome camera, and the usability of the security system is improved.

Description

Target tracking joint display method, security system and electronic equipment

Technical Field

The invention relates to the technical field of security and protection, in particular to a target tracking joint display method, a security and protection system and electronic equipment.

Background

Along with development and maturity of radar technology, more and more security systems adopt radar monitoring, radar equipment receives an echo signal reflected after the radar detection signal reaches a target by transmitting the radar detection signal, and radar information such as the azimuth, the distance, the moving speed and the like of the target is determined according to the echo intensity of the echo signal.

Although radar information of a target can be acquired by radar equipment, the radar information is not intuitive enough for a common user, resulting in poor usability of a security system.

Disclosure of Invention

The embodiment of the invention aims to provide a target tracking joint display method, a security system and electronic equipment, so as to intuitively display targets and improve the usability of the security system. The specific technical scheme is as follows:

in a first aspect, an embodiment of the present invention provides a target tracking joint display method, where the method includes:

according to radar detection data of a target to be processed detected by radar equipment in a monitoring area, acquiring radar coordinates of the target to be processed;

according to the radar coordinates of the to-be-processed detection target and the conversion relation between the pre-calibrated radar coordinates and the PT coordinates of the dome camera, converting the radar coordinates into the PT coordinates of the to-be-processed detection target in the field of view of the dome camera;

According to the PT coordinates of the to-be-processed detection target, adjusting the PTZ coordinates of the ball machine, wherein the PTZ coordinates are used for adjusting the angle of view of the ball machine;

determining the image coordinates of the to-be-processed detection target in an image picture shot by the dome camera according to the PTZ coordinates and the PT coordinates of the to-be-processed detection target;

and superposing and displaying marks representing the detection targets to be processed at the positions corresponding to the image coordinates in the image picture.

In one possible embodiment of the present invention, the detection targets to be processed are plural;

the adjusting the PTZ coordinate of the ball machine according to the PT coordinate of the to-be-processed detection target comprises the following steps:

acquiring an interested target in the detected targets to be processed and distance information between the interested target and the dome camera according to the radar detection data;

and determining the target multiplying power of the spherical machine according to the distance information, and adjusting the PTZ coordinates of the spherical machine according to the target multiplying power and the PT coordinates of the interested target, so that the interested target is positioned at the center of the field of view of the spherical machine after the field of view angle of the spherical machine is adjusted.

In a possible embodiment of the invention, the detection target to be processed comprises the target of interest and a target not of interest; the step of displaying the mark representing the detection target to be processed in a superposition manner at the position corresponding to the image coordinate in the image picture comprises the following steps:

And displaying the interested target by adopting a first mark and displaying the non-interested target by adopting a second mark in the image picture.

In one possible embodiment of the present invention, the method further comprises:

determining an adjusted field angle of the dome camera according to the PTZ coordinates;

and when the to-be-processed detection target is determined to be positioned in the ball machine view field after the ball machine view angle adjustment according to the PT coordinates of the to-be-processed detection target and the ball machine adjusted view angle, displaying marks representing the to-be-processed detection target in a superposition mode at the position corresponding to the image coordinates of the to-be-processed detection target in the image picture.

In one possible embodiment of the invention, the marks are dots or boxes.

In one possible embodiment of the invention, the number of radar devices is at least one, the number of cameras is a plurality;

the obtaining, according to radar detection data of a target to be detected by a radar device in a monitoring area, radar coordinates of the target to be detected includes:

for each radar device in at least one radar device, acquiring radar coordinates of a target to be processed according to radar detection data of the target to be processed, which is detected by the radar device in a monitoring area;

respectively adjusting PTZ coordinates of each spherical machine according to PT coordinates of the to-be-processed detection targets;

the determining, according to the PTZ coordinates and the PT coordinates of the to-be-processed detection target, the image coordinates of the to-be-processed detection target in the image frame shot by the dome camera includes:

determining image coordinates of the to-be-processed detection targets in image frames shot by the ball machines according to the PTZ coordinates of the ball machines and the PT coordinates of the to-be-processed detection targets;

the step of displaying the mark representing the detection target to be processed in a superposition manner at the position corresponding to the image coordinate in the image picture comprises the following steps:

and respectively superposing and displaying marks representing the detection targets to be processed at the positions corresponding to the image coordinates in the image frames shot by the ball machines.

In a second aspect, an embodiment of the present invention provides a security system, where the system includes radar equipment, a ball machine, and a control device, where the control device is located inside or outside the ball machine;

the radar device is used for detecting a target to be processed in a monitoring area and sending radar detection data of the detected target to be processed to the control device;

The ball machine is used for shooting the monitoring area and sending the shot image picture to the control device;

the control device is used for acquiring radar coordinates of a target to be processed according to radar detection data of the target to be processed detected by the radar equipment in a monitoring area; according to the radar coordinates of the to-be-processed detection target and the conversion relation between the pre-calibrated radar coordinates and the PT coordinates of the dome camera, converting the radar coordinates into the PT coordinates of the to-be-processed detection target in the field of view of the dome camera; according to the PT coordinates of the to-be-processed detection target, adjusting the PTZ coordinates of the ball machine, wherein the PTZ coordinates are used for adjusting the angle of view of the ball machine; determining the image coordinates of the detection target to be processed in the image picture according to the PTZ coordinates and the PT coordinates of the detection target to be processed; and superposing and displaying marks representing the detection targets to be processed at the positions corresponding to the image coordinates in the image picture.

the control device is specifically configured to, when implementing the adjustment of the PTZ coordinate of the ball machine according to the PT coordinate of the to-be-processed detection target:

In a possible embodiment of the invention, the detection target to be processed comprises the target of interest and a target not of interest; the control device is specifically configured to, when implementing the superposition display of the mark representing the detection target to be processed at the position corresponding to the image coordinate in the image frame:

In a possible embodiment of the invention, the control device is further configured to:

In one possible embodiment of the invention, the marks are dots or boxes.

In one possible embodiment of the present invention, the number of the radar devices is at least one, and the number of the ball machines is a plurality;

the control device is specifically configured to, when implementing the obtaining of the radar coordinates of the target to be processed according to the radar detection data of the target to be processed detected by the radar device in the monitoring area:

the control device is specifically configured to, when implementing the determination of the image coordinates of the target to be processed in the image frame shot by the dome camera according to the PTZ coordinates and the PT coordinates of the target to be processed:

The control device is specifically configured to, when implementing the superposition display of the mark representing the detection target to be processed at the position corresponding to the image coordinate in the image frame:

In a third aspect, an embodiment of the present invention provides an electronic device, including a processor, a memory, and a display, where,

a memory for storing a computer program;

a processor for executing the computer program stored on the memory, at least: according to radar detection data of a target to be processed detected by radar equipment in a monitoring area, acquiring radar coordinates of the target to be processed; according to the radar coordinates of the to-be-processed detection target and the conversion relation between the pre-calibrated radar coordinates and the PT coordinates of the dome camera, converting the radar coordinates into the PT coordinates of the to-be-processed detection target in the field of view of the dome camera; according to the PT coordinates of the to-be-processed detection target, adjusting the PTZ coordinates of the ball machine, wherein the PTZ coordinates are used for adjusting the angle of view of the ball machine; determining the image coordinates of the to-be-processed detection target in an image picture shot by the dome camera according to the PTZ coordinates and the PT coordinates of the to-be-processed detection target, and sending the image coordinates to a display;

And the display is used for displaying marks representing the detection targets to be processed in a superposition mode at the corresponding positions of the image coordinates in the image picture.

According to the target tracking joint display method, the security system and the electronic device, radar coordinates of a target to be detected are obtained according to radar detection data of the target to be detected, detected by radar equipment in a monitoring area, the radar coordinates of the target to be detected are converted into PT coordinates of the target to be detected in a field of view of a dome camera according to the radar coordinates of the target to be detected and a conversion relation between the radar coordinates and PT coordinates of the dome camera, PTZ coordinates of the dome camera are adjusted according to the PT coordinates of the target to be detected, image coordinates of the target to be detected in an image picture shot by the dome camera are determined according to the PTZ coordinates and the PT coordinates of the target to be detected, and marks representing the target to be detected are displayed in a superimposed mode at positions corresponding to the image coordinates in the image picture. By calibrating the radar equipment and the spherical camera to obtain the conversion relation between the radar coordinates and the spherical camera PT coordinates, the radar coordinates of the to-be-processed detection target detected by the radar equipment can be converted into the spherical camera PT coordinates, further, the PTZ coordinates of the spherical camera are adjusted according to the PT coordinates of the to-be-processed detection target, and the image coordinates of the to-be-processed detection target in the image frame are calculated according to the PTZ coordinates and the PT coordinates of the to-be-processed detection target. And the mark representing the detection target to be processed is displayed in a superimposed manner at the position corresponding to the image coordinates in the image picture, the detection target to be processed is intuitively displayed in the actual scene image picture shot by the dome camera, and the detection target to be processed is intuitively displayed for a common user, so that the usability of the security and protection system is improved.

Drawings

In order to more clearly illustrate the embodiments of the invention or the technical solutions in the prior art, the drawings that are required in the embodiments or the description of the prior art will be briefly described, it being obvious that the drawings in the following description are only some embodiments of the invention, and that other drawings may be obtained according to these drawings without inventive effort for a person skilled in the art.

FIG. 1 is a flow chart of a target tracking joint display method according to an embodiment of the invention;

FIG. 2 is a security schematic diagram of a dome camera and radar apparatus according to an embodiment of the present invention;

FIG. 3 is a diagram of a coordinate system of a spherical machine according to an embodiment of the present invention;

FIG. 4 is a schematic diagram of a calculation process of image coordinates of a target to be processed in an image according to an embodiment of the present invention;

FIG. 5 is a schematic diagram showing the identification of a target to be detected according to an embodiment of the present invention;

FIG. 6 is a schematic diagram of displaying the identification of a target to be detected within the field of view of the ball machine according to an embodiment of the present invention;

FIG. 7 is a flowchart of a target tracking joint display method according to another embodiment of the invention;

FIG. 8 is a schematic diagram showing the identification of a target to be detected according to another embodiment of the present invention;

FIG. 9 is a schematic diagram of a target tracking joint display device according to an embodiment of the invention;

FIG. 10 is a schematic diagram of a security system according to an embodiment of the present invention;

FIG. 11 is a schematic diagram of a security system according to another embodiment of the present invention;

fig. 12 is a schematic structural diagram of an electronic device according to an embodiment of the present invention.

Detailed Description

The following description of the embodiments of the present invention will be made clearly and completely with reference to the accompanying drawings, in which it is apparent that the embodiments described are only some embodiments of the present invention, but not all embodiments. All other embodiments, which can be made by those skilled in the art based on the embodiments of the invention without making any inventive effort, are intended to be within the scope of the invention.

In order to achieve the purpose of intuitively displaying a target and improving usability of a security system, the embodiment of the invention provides a target tracking joint display method, a security system and electronic equipment.

The terms in the embodiments of the present invention are explained as follows:

millimeter wave radar: is a radar operating in the millimeter wave band. Millimeter wave refers to the 30-300 GHz frequency domain (wavelength 1-10 mm), but generally 24GHz radar is also known as millimeter wave radar.

Ball machine: a camera with horizontal motor, vertical motor, zoom capability.

Calibrating: the embodiment of the invention specifically refers to a method for realizing the conversion relationship between a radar coordinate system and a spherical camera coordinate system.

The following describes a target tracking joint display method provided by the embodiment of the invention.

The execution main body of the target tracking joint display method provided by the embodiment of the invention is an electronic device with at least a logic calculation function, such as a controller, an intelligent ball machine and the like, and the electronic device at least comprises a core processing chip. The target tracking joint display method provided by the embodiment of the invention can be implemented by at least one of software, a hardware circuit and a logic circuit arranged in the electronic equipment.

As shown in FIG. 1, the method for displaying the target tracking joint provided by the embodiment of the invention can comprise the following steps.

S101, acquiring radar coordinates of a target to be processed according to radar detection data of the target to be processed detected by the radar equipment in a monitoring area.

In the embodiment of the invention, the security system comprises at least one radar device, at least one dome camera and a control device, wherein the control device can be a control chip in the dome camera or an external control device independent of the dome camera. When the security system is installed, the installation parameters of the radar equipment and the dome camera can be adjusted to ensure that the radar equipment and the dome camera are aligned to the same monitoring area and have a common field of view. Taking a radar device and a dome camera as an example in the security system, as shown in fig. 2, the dome camera and the radar device are aligned to the same monitoring scene, so that the dome camera and the radar device are guaranteed to have a common field of view. The radar device in the embodiment of the invention can be millimeter wave radar device, microwave radar device, photoelectric radar device and the like.

The radar device receives an echo signal reflected after the radar detection signal reaches a detection target to be processed by transmitting the radar detection signal, and according to the echo intensity of the echo signal, the radar information such as the direction, the position, the distance, the moving speed and the like of the detection target to be processed can be determined according to the received echo signal, specifically, the radar detection data of the detection target to be processed can be determined through frequency modulation frequency, echo time difference, echo intensity and the like, wherein the radar detection data at least can comprise radar coordinates. After the radar equipment detects the radar detection data of the target to be processed, the radar detection data are sent to the control device for calculation, and the control device can acquire the radar coordinates of the target to be processed from the radar detection data. The dome camera is used for shooting a monitoring area in real time. The target to be detected may be all the targets detected in the monitored area, or may be targets detected in the monitored area that satisfy a certain detection condition, for example, the target that moves at the highest speed, the target that is closest to the target, the target that enters the designated area, or the like.

S102, converting the radar coordinates into PT coordinates of the to-be-processed detection target in the field of view of the dome camera according to the radar coordinates of the to-be-processed detection target and the conversion relation between the pre-calibrated radar coordinates and the PT coordinates of the dome camera.

In the embodiment of the invention, the radar equipment and the spherical machine are calibrated in advance, so that the mutual conversion between the radar coordinate system and the spherical machine coordinate system is realized. The radar coordinate system is usually an XY coordinate system, and the spherical machine coordinate system is usually a PTZ (Pan/Tilt/Zoom) coordinate system. After calibration, the conversion relation between the radar coordinates and the spherical machine coordinates is recorded.

Specifically, the process for calibrating the radar equipment and the dome camera mainly comprises the following steps:

firstly, converting the coordinate of the spherical machine into a plane coordinate system, as shown in fig. 3, assuming that the erection height of the spherical machine is h, for the target a, the optimal observation azimuth angle is pan, the optimal observation pitch angle is tilt, and the coordinate of the target a in the coordinate system of the spherical machine is:

through a homography matrix fitting mode, the coordinate conversion relation between the coordinate system of the spherical machine and the coordinate system of the radar can be realized.

To make the calibration simpler, we can omit the measurement of the ball frame set height h. The erection height of a ball machine can be arbitrarily set, for example, the ball machine frame is arranged at the point B, and the height h is 5m. The plane O is set as the real ground, and the plane O' is a virtual ground with the installation height of 5m for the ball machine, and is parallel to the real ground. At this time, the plane where the coordinate system of the spherical machine is located is the plane O ', and the geometric relationship indicates that the target a and the virtual target a ' have the same PT coordinate, and the coordinate point corresponding to the target a can be converted into the virtual target point a '.

And selecting n pairs of matching points which are distributed uniformly in a monitoring area of the ball machine, wherein n is more than or equal to 4, and the n pairs of matching points are not collinear. After the matching points are determined, the mapping relation between the radar equipment and the virtual plane of the spherical machine is calculated, so that the non-matching points in one equipment coordinate system can be mapped into the other equipment coordinate system.

In homogeneous coordinates, a point p (x _i ,y _i 1) transformation by H matrix (Hermitian matrix ) into p' (x) _i ’,y _i '1), i.e. p' =h x p,

generally, let h for perspective transformation ₃₃ The H matrix has 8 degrees of freedom at this time, which requires at least 4 pairs of matching point pairs to solve. For n>The solution of p' =h×p equation set can be converted into the solution of alignment equation set a×h=b for 4 pairs of matching points (overdetermined equations).

From equation (3):

when the number of calibration points is 4, the formulas (4), (5) are converted into a matrix form:

for the case of n >4 pairs of matching points (overdetermined equations), the solution p' =h×p equation set can be converted into the solution of the alignment equation set a×h=b, and the solution can be achieved by a least square method. The method is obtained by solving the characteristic value and the characteristic vector of the coefficient matrix A. The H matrix has been found and subsequently refined by random sample consensus (RANSC). p '=h×p is the conversion relation between the radar coordinate and the spherical coordinate, where p represents the radar coordinate of the target, p' represents the corresponding virtual coordinate, and then the corresponding PT coordinate is obtained based on the formula (1) and the formula (2).

Through the calibration process, the conversion from the radar coordinate to the spherical machine PT coordinate and the conversion from the spherical machine PT coordinate to the radar coordinate can be realized.

After the radar coordinates of the detected target to be processed are obtained, the radar coordinates of the detected target to be processed can be converted into the spherical machine PT coordinates based on the conversion relation between the radar coordinates and the spherical machine PT coordinates.

S103, adjusting PTZ coordinates of the ball machine according to PT coordinates of the to-be-processed detection target, wherein the PTZ coordinates are used for adjusting the angle of view of the ball machine.

For the ball machine, the PTZ coordinates of the ball machine determine the steering direction, the angle of view and the like of the ball machine, and after the PT coordinates of the detection target to be processed are converted, the PTZ coordinates of the ball machine can be correspondingly adjusted so as to achieve the purpose of adjusting the angle of view of the ball machine, so that the ball machine can track the detection target to be processed. The Z coordinate refers to the observation magnification of the spherical machine, and in practical application, the observation magnification of the spherical machine is always proportional to the distance between the target and the spherical machine, so the Z coordinate can be calculated by the formula (7).

Z＝k*R+b (7)

Wherein Z is the optimal observation multiplying power of the target, R is the distance between the target and the ball machine, k and b are coefficients, the distance between the target and the ball machine can be generally calculated according to PT coordinates and the erection height h of the ball machine, the specific calculation process meets the trigonometric function relation, and the method belongs to the prior art and is not repeated here. According to the model, at least 2 pairs of matching points are needed to solve k and b.

S104, determining the image coordinates of the to-be-processed detection target in the image picture shot by the dome camera according to the PTZ coordinates of the dome camera and the PT coordinates of the to-be-processed detection target.

The PT coordinates of the to-be-processed detection target can be mapped into an image picture shot by the dome camera, and specifically, the PTZ coordinates of the dome camera and the PT coordinates of the to-be-processed detection target are mapped to obtain the image coordinates of the to-be-processed detection target in the image picture.

In one possible embodiment of the present invention, S104 may be specifically implemented by the following steps:

determining PT coordinates of the center of a view field of the dome camera, and determining image coordinates of a center point of an image picture according to the image size; according to the PT coordinates of the to-be-processed detection target and the PT coordinates of the center of the view field, respectively calculating a first included angle between the transverse deflection angle of the to-be-processed detection target and the transverse deflection angle of the center of the view field and a second included angle between the longitudinal deflection angle of the to-be-processed detection target and the longitudinal deflection angle of the center of the view field; and calculating the image coordinates of the to-be-processed detection target in the image picture according to the image coordinates of the center point, the first included angle of the to-be-processed detection target, the second included angle of the to-be-processed detection target and the view angle of the dome camera.

Calculation of image coordinates of the detection target to be processed in the image frame as shown in fig. 4, assuming that the width of the image frame shot by the dome camera is imgW and the height is imgH, which are both known amounts, the image coordinates of the center point of the image frame areThe size of the image shot by the dome camera is determined, and then the PT coordinate of the center of the field of view of the dome camera can be determined, and the PT coordinate of the center of the field of view is assumed to be (P, T). The field angle is the attribute information of the dome camera, and can be directly obtained from the dome camera or can be calculated according to the information of focal length, multiplying power and the like of the dome camera. For a target i to be processed detected by the radar device, it has been known through S102 that the PT coordinate of the target is (P _i ,T _i ) Wherein P is _i For the lateral deflection angle of the target i, T _i For the longitudinal deflection angle of the target i, a first included angle P of the detected target i to be processed can be calculated _i -P, a second angle T _i -T. Based on the formula (8) and the formula (9), the image coordinates (x) of the detection target i to be processed in the image picture can be obtained _i ,y _i )。

Wherein,horizontal angle of view for a dome camera, +.>Is the vertical field angle of the ball machine. The horizontal width h and the vertical height v of the spherical machine target surface are basic attributes of the spherical machine, the basic attributes can be directly obtained from the spherical machine, and the focal length f can be calculated according to the target multiplying power Z.

Of course, besides calculating the image coordinates in the specific manner, since the size of the image collected by each dome camera is usually fixed, the image coordinates of the to-be-processed detection target in the image frame under the normalized scene can be calculated directly based on the PT coordinates of the to-be-processed detection target and the PTZ coordinates of the dome camera based on the normalization principle. This approach is a technique well known in the art and will not be described in detail here.

S105, a mark representing the detection target to be processed is displayed in a superimposed mode at a position corresponding to the image coordinate in the image picture.

After the image coordinates of the detection target to be processed in the image frame are calculated, a mark representing the detection target to be processed may be superimposed and displayed at a corresponding position in the image frame directly based on the image coordinates of the detection target to be processed.

In one possible embodiment of the invention, the markers may be dots or boxes.

The specific marking mode can be to mark the corresponding position of the detection target to be processed in the image picture shot by the ball machine by a point, a frame or other special shapes. In order to make it easier for the user to observe the detection target to be processed, the detection target to be processed is preferably marked in the form of dots or boxes, as shown in fig. 5.

In a possible implementation manner of the present invention, the target tracking joint display method provided by the embodiment of the present invention may further perform the following steps:

determining an adjusted field angle of view of the dome camera according to the PTZ coordinates of the dome camera; and when the to-be-processed detection target is determined to be positioned in the field of view of the ball machine after the adjustment of the ball machine according to the PT coordinates of the to-be-processed detection target and the field of view of the ball machine after the adjustment of the field of view of the ball machine, displaying marks representing the to-be-processed detection target in a superposition manner at the corresponding positions of the image coordinates of the to-be-processed detection target in the image picture.

Because the range detected by the radar device and the range shot by the dome camera do not necessarily completely coincide due to the problem of installing and monitoring the field of view, after the PT coordinates of the target to be processed are obtained, it is first required to determine whether the target to be processed is located in the field of view of the dome camera after the field angle of the dome camera is adjusted, and to display the target to be processed in the field of view of the dome camera, while for the target to be processed which is not in the field of view of the dome camera, since the target is not included in the range of the image shot by the dome camera, the target does not need to be displayed in a marked manner.

Specifically, assuming that the PT coordinate of the center of the field of view of the ball machine is (P, T) at this time, the field angle is attribute information of the ball machine, which may be directly obtained from the ball machine or may be calculated from information such as the focal length and magnification of the ball machine. The horizontal view field range of the ball machine is The vertical view field range of the dome camera is +.>Wherein (1)>Horizontal angle of view adjusted for the dome camera, < +.>The vertical angle of view after the ball machine adjustment. For the detected object i to be processed, if the spherical coordinates (P _i ,T _i ) The following conditions are satisfied at the same time:

and judging that the detected target i to be processed is in the spherical camera view field after the spherical camera view angle is adjusted, and displaying the line mark of the detected target i to be processed.

As shown in fig. 6, from among 4 detected targets to be processed detected by the radar apparatus, it can be determined by the above calculation that the target 1, the target 2, and the target 4 are in the field of view of the ball machine after the adjustment of the ball machine, and therefore, the three targets are marked and displayed.

After the image coordinates of the detection target to be processed are obtained, the ball machine can be controlled to track and display the detection target to be processed in real time according to the image coordinates of the detection target to be processed, and the targets in the field of view range of the ball machine are updated in real time and synchronously displayed in the image.

In one possible embodiment of the invention, the number of radar devices is at least one, and the number of cameras is a plurality.

Accordingly, S101 may specifically include: and acquiring radar coordinates of the target to be detected according to radar detection data of the target to be detected by the radar equipment in the monitoring area for each radar equipment in the at least one radar equipment.

S103 may specifically include: and respectively adjusting PTZ coordinates of each ball machine according to PT coordinates of the detection target to be processed.

S104 may specifically include: and determining the image coordinates of the detection target to be processed in the image picture shot by each dome camera according to the PTZ coordinates of each dome camera and the PT coordinates of the detection target to be processed.

S105 may specifically include: and respectively superposing and displaying marks representing the detection targets to be processed at the corresponding positions of the image coordinates in the image frames shot by the ball machines.

The embodiment of the invention can be applied to a system consisting of a plurality of radars and a plurality of cameras, and can also be applied to a system consisting of a single radar and a plurality of cameras, and the detection targets to be processed can be individually marked and displayed on an image picture shot by each camera aiming at each monitoring area. Of course, if the image frames shot by the cameras can be combined into one panoramic image, the detection targets to be processed can be displayed in a joint mark on the panoramic image.

According to the embodiment of the invention, radar coordinates of the to-be-processed detection target are obtained according to radar detection data of the to-be-processed detection target detected by radar equipment in a monitoring area, the radar coordinates are converted into PT coordinates of the to-be-processed detection target in a field of view of the dome camera according to the radar coordinates of the to-be-processed detection target and a conversion relation between the pre-calibrated radar coordinates and PT coordinates of the dome camera, PTZ coordinates of the dome camera are adjusted according to the PT coordinates of the to-be-processed detection target, image coordinates of the to-be-processed detection target in an image picture shot by the dome camera are determined according to the PTZ coordinates and the PT coordinates of the to-be-processed detection target, and marks representing the to-be-processed detection target are displayed in superposition mode at positions corresponding to the image coordinates in the image picture. By calibrating the radar equipment and the spherical camera to obtain the conversion relation between the radar coordinates and the spherical camera PT coordinates, the radar coordinates of the to-be-processed detection target detected by the radar equipment can be converted into the spherical camera PT coordinates, further, the PTZ coordinates of the spherical camera are adjusted according to the PT coordinates of the to-be-processed detection target, and the image coordinates of the to-be-processed detection target in the image frame are calculated according to the PTZ coordinates and the PT coordinates of the to-be-processed detection target. And the mark representing the detection target to be processed is displayed in a superimposed manner at the position corresponding to the image coordinates in the image picture, the detection target to be processed is intuitively displayed in the actual scene image picture shot by the dome camera, and the detection target to be processed is intuitively displayed for a common user, so that the usability of the security and protection system is improved.

Moreover, by observing the image picture shot by the dome camera, the targets detected by the radar can be clearly corresponding to the image targets, and the detection performance and the coordinate conversion performance of the radar can be intuitively evaluated through the image, so that which target enters the warning area can be clearly determined. Meanwhile, when false detection occurs in the radar equipment, which target is the false detection can be clearly known, and the reasons of the false detection are analyzed according to the images.

Based on the embodiment shown in fig. 1, the embodiment of the invention also provides a target tracking joint display method, wherein a plurality of detection targets to be processed are shown in fig. 7, and the method comprises the following steps.

S701, acquiring radar coordinates of a target to be detected, based on radar detection data of the target to be detected by the radar device in the monitored area.

S702, converting the radar coordinates into PT coordinates of the to-be-processed detection target in the field of view of the dome camera according to the radar coordinates of the to-be-processed detection target and the conversion relation between the pre-calibrated radar coordinates and the PT coordinates of the dome camera.

S701 and S702 are the same as S101 and S102 in the embodiment shown in fig. 1, and are not described here again.

S703, acquiring an interested target in the detected targets to be processed and distance information between the interested target and the dome camera according to the radar detection data.

The target of interest refers to an intrusion target detected by the radar device, such as a target having a relatively high moving speed, a target entering a specified area, or the like, and thus, the target of interest in the target of interest can be determined by analyzing radar detection data of each target of interest.

The distance information between the interested target and the ball machine can be calculated according to PT coordinates of the interested target and installation position information of the ball machine, wherein the installation position information refers to parameters related to installation of the ball machine, such as longitude and latitude, erection height and the like of the ball machine.

Based on the scene shown in fig. 3, for the object of interest a, the coordinates of the emotion line object a in the spherical machine coordinate system are:thus, the distance of the object of interest A from the dome camera

S704, determining the target multiplying power of the spherical machine according to the distance information, and adjusting the PTZ coordinates of the spherical machine according to the target multiplying power and the PT coordinates of the target of interest, so that the target of interest is positioned at the center of the field of view of the spherical machine after the field angle of view of the spherical machine is adjusted.

If the objective of clearly capturing the object of interest a is to be achieved, the multiplying power of the spherical machine needs to be adjusted, and accordingly, the target multiplying power of the spherical machine is z=k×r+b, where the calculating manner of the coefficients k and b refers to the description in the embodiment shown in fig. 1, and will not be repeated herein.

After the PT coordinates and the target multiplying power of the interested target are determined, the PTZ coordinates of the spherical machine can be adjusted, the purpose of adjusting the view angle of the spherical machine is achieved, the spherical machine is rotated and multiplied, the interested target can be located at the center of the view field of the spherical machine after the view angle of the spherical machine is adjusted, and the spherical machine is multiplied to the target multiplying power. Therefore, the object of interest can be ensured to be positioned in the middle of the image acquired by the dome camera, the object of interest can be ensured to be clearly shot, and the observation of a user is facilitated.

In one possible implementation manner of the present invention, in the case of taking a clearly shot object of interest as a target, the manner of determining the adjusted field angle of view of the dome camera may specifically be:

and determining a focal length corresponding to the target multiplying power, acquiring the horizontal width and the vertical height of the spherical machine target surface, and calculating the view angle corresponding to the target multiplying power by utilizing a trigonometric function relation according to the focal length, the horizontal width and the vertical height. Or according to the target multiplying power, searching the view angle corresponding to the target multiplying power in a mapping table, wherein the mapping table records the corresponding relation between different multiplying powers and view angles which are measured in advance.

The manner of obtaining the field angle of the dome camera is mainly divided into two types: direct calculation and off-line measurement.

For direct calculation, the horizontal width h and the vertical height v of the spherical machine target surface are basic attributes of the spherical machine, can be directly obtained from the spherical machine, and can be directly calculated by using a formula (12) and a formula (13) according to the focal length f corresponding to the target multiplying power.

Wherein H is the horizontal angle of view and V is the vertical angle of view.

For off-line actual measurement, through the prior actual measurement, the corresponding relations between any multiplying power and the view angle can be obtained, the corresponding relations are recorded in a mapping table, and after the target multiplying power is obtained, the view angle corresponding to the target multiplying power can be directly found in the mapping table.

S705, determining the image coordinates of the to-be-processed detection target in the image picture shot by the dome camera according to the PTZ coordinates of the dome camera and the PT coordinates of the to-be-processed detection target.

S705 is the same as S104 in the embodiment shown in fig. 1, and will not be described here again.

In the embodiment of the present invention, the mode of calculating the image coordinates of the detection target to be processed may be the mode of the embodiment shown in fig. 1, where the PT coordinates at the center of the field of view are PT coordinates of the target of interest.

S706, a mark representing the detection target to be processed is superimposed and displayed at the image coordinate corresponding position in the image screen.

S706 is the same as S105 in the embodiment shown in fig. 1, and will not be described here again.

In the embodiment of the present invention, the displaying of the mark of the target to be detected may be displaying the mark of the target to be detected only in the field of view, and the specific manner of determining that the target to be detected is in the field of view refers to the embodiment shown in fig. 1, where the PT coordinate in the center of the field of view is the PT coordinate of the target of interest.

In one possible embodiment of the invention, the detection target to be processed comprises a target of interest and a target of non-interest. S706 may specifically be: in the image frame, the first mark is used for displaying the interested target, and the second mark is used for displaying the non-interested target.

In the case of the marker display of the detection target to be processed, the target of interest may be marked differently from the non-target of interest, for example, the non-target of interest is marked in the form of dots or boxes, and the target of interest is distinguished by a conspicuous color.

As shown in fig. 8, the object of interest 1 is marked with a black color, and the objects of non-interest 2 and 4 are marked with a white color.

Through the saliency marking of the interested target, a user can more intuitively observe the target needing to be focused, a basis is provided for tracking and snapshot of the target by the ball machine, and convenience is provided for security work.

Corresponding to the above method embodiment, the embodiment of the present invention further provides a target display device, as shown in fig. 9, including:

a coordinate conversion module 910, configured to obtain radar coordinates of a target to be detected according to radar detection data of the target to be detected by the radar device in the monitoring area; according to the radar coordinates of the to-be-processed detection target and the conversion relation between the pre-calibrated radar coordinates and the PT coordinates of the dome camera, converting the radar coordinates into the PT coordinates of the to-be-processed detection target in the field of view of the dome camera; according to PT coordinates of the to-be-processed detection target, adjusting PTZ coordinates of the ball machine, wherein the PTZ coordinates are used for adjusting the angle of view of the ball machine; and determining the image coordinates of the detection target to be processed in the image picture shot by the ball machine according to the PTZ coordinates and the PT coordinates of the detection target to be processed.

A control module 920, configured to superimpose and display a mark representing the detection target to be processed at a position corresponding to the image coordinate in the image frame.

In one possible embodiment of the invention, the number of detection targets to be processed is a plurality; the coordinate conversion module 910, when used for adjusting the PTZ coordinate of the ball machine according to the PT coordinate of the detection target to be processed, may be specifically used for: acquiring an interested target in the detected target to be processed and distance information between the interested target and the dome camera according to the radar detection data; and determining the target multiplying power of the spherical machine according to the distance information, and adjusting the PTZ coordinates of the spherical machine according to the target multiplying power and the PT coordinates of the target of interest, so that the target of interest is positioned at the center of the field of view of the spherical machine after the field angle of the spherical machine is adjusted.

In one possible embodiment of the invention, the detection target to be processed comprises a target of interest and a target of non-interest; the control module 920 may specifically be configured to: in the image frame, the first mark is used for displaying the interested target, and the second mark is used for displaying the non-interested target.

In one possible embodiment of the present invention, the control module 920 may also be configured to: determining an adjusted field angle of view of the dome camera according to the PTZ coordinates of the dome camera; and when the to-be-processed detection target is determined to be positioned in the field of view of the ball machine after the adjustment of the ball machine according to the PT coordinates of the to-be-processed detection target and the field of view of the ball machine after the adjustment of the field of view of the ball machine, displaying marks representing the to-be-processed detection target in a superposition manner at the corresponding positions of the image coordinates of the to-be-processed detection target in the image picture.

In one possible embodiment of the invention, the markers may be dots or boxes.

The coordinate conversion module 910, when used for obtaining the radar coordinates of the target to be processed according to the radar detection data of the target to be processed detected by the radar device in the monitored area, may specifically be used for: and acquiring radar coordinates of the target to be detected according to radar detection data of the target to be detected by the radar equipment in the monitoring area for each radar equipment in the at least one radar equipment.

The coordinate conversion module 910, when used for adjusting the PTZ coordinate of the ball machine according to the PT coordinate of the detection target to be processed, may be specifically used for: and respectively adjusting PTZ coordinates of each ball machine according to PT coordinates of the detection target to be processed.

The coordinate conversion module 910, when configured to determine, according to the PTZ coordinate and the PT coordinate of the target to be processed, the image coordinate of the target to be processed in the image frame shot by the dome camera, may specifically be configured to: and determining the image coordinates of the detection target to be processed in the image picture shot by each dome camera according to the PTZ coordinates of each dome camera and the PT coordinates of the detection target to be processed.

The control module 920 may specifically be configured to: and respectively superposing and displaying marks representing the detection targets to be processed at the corresponding positions of the image coordinates in the image frames shot by the ball machines.

The embodiment of the invention also provides a security system, as shown in fig. 10, which comprises radar equipment 1001, a ball machine 1002 and a control device 1003, wherein the control device 1003 can be arranged in the ball machine 1002 or outside the ball machine 1002.

The radar apparatus 1001 detects a detection target to be processed in a monitoring area, and transmits radar detection data of the detected detection target to be processed to the control device 1003.

The dome camera 1002 is configured to capture a monitored area, and transmit a captured image to the control device 1003.

Control means 1003 for acquiring radar coordinates of a detection target to be processed based on radar detection data of the detection target to be processed detected by the radar apparatus 1001 in the monitored area; according to the radar coordinates of the to-be-processed detection target and the conversion relation between the pre-calibrated radar coordinates and the PT coordinates of the dome camera, converting the radar coordinates into the PT coordinates of the to-be-processed detection target in the field of view of the dome camera; according to PT coordinates of the to-be-processed detection target, adjusting PTZ coordinates of the ball machine, wherein the PTZ coordinates are used for adjusting the angle of view of the ball machine; determining the image coordinates of the detection target to be processed in the image picture according to the PTZ coordinates and the PT coordinates of the detection target to be processed; and superposing and displaying marks representing the detection targets to be processed at the corresponding positions of the image coordinates in the image picture.

In one possible embodiment of the invention, the number of detection targets to be processed is a plurality; the control device 1003, when implementing adjustment of the PTZ coordinate of the ball machine according to the PT coordinate of the detection target to be processed, may specifically be used for: acquiring an interested target in the detected target to be processed and distance information between the interested target and the dome camera according to the radar detection data; and determining the target multiplying power of the spherical machine and PT coordinates of the target of interest according to the distance information, and adjusting the PTZ coordinates of the spherical machine according to the target multiplying power, so that the target of interest is positioned at the center of the field of view of the spherical machine after the field angle of the spherical machine is adjusted.

In one possible embodiment of the invention, the detection target to be processed comprises a target of interest and a target of non-interest; the control device 1003, when implementing the superimposed display of the mark representing the detection target to be processed at the image coordinate corresponding position in the image screen, may be specifically configured to: in the image frame, the first mark is used for displaying the interested target, and the second mark is used for displaying the non-interested target.

In one possible embodiment of the present invention, the control device 1003 may further be configured to: determining an adjusted field angle of view of the dome camera according to the PTZ coordinates; and when the to-be-processed detection target is determined to be positioned in the field of view of the ball machine after the adjustment of the ball machine according to the PT coordinates of the to-be-processed detection target and the field of view of the ball machine after the adjustment of the field of view of the ball machine, displaying marks representing the to-be-processed detection target in a superposition manner at the corresponding positions of the image coordinates of the to-be-processed detection target in the image picture.

In one possible embodiment of the invention, the markers may be dots or boxes.

The embodiment of the invention also provides a security system, as shown in fig. 11, which comprises at least one radar device 1101, a plurality of ball machines 1102 and a control device 1103.

The radar apparatus 1101 is configured to detect a target to be processed in a monitoring area, and transmit radar detection data of the detected target to be processed to the control device 1103.

The dome camera 1102 is configured to capture a monitored area, and send a captured image to the control device 1103.

A control device 1103, configured to obtain, for each radar device in at least one radar device, radar coordinates of a target to be detected to be processed according to radar detection data of the target to be detected by the radar device in a monitoring area; according to the radar coordinates of the to-be-processed detection target and the conversion relation between the pre-calibrated radar coordinates and the PT coordinates of the dome camera, converting the radar coordinates into the PT coordinates of the to-be-processed detection target in the field of view of the dome camera; respectively adjusting PTZ coordinates of each ball machine according to PT coordinates of the detection target to be processed; determining the image coordinates of the detection target to be processed in the image picture shot by each dome camera according to the PTZ coordinates of each dome camera and the PT coordinates of the detection target to be processed; and respectively superposing and displaying marks representing the detection targets to be processed at the corresponding positions of the image coordinates in the image frames shot by the ball machines.

As shown in fig. 12, an embodiment of the invention also provides an electronic device that may include a processor 1201, a memory 1202, and a display 1203.

Memory 1202 for storing a computer program.

Processor 1201, when executing the computer program stored on memory 1202, implements at least: according to radar detection data of a target to be processed detected by radar equipment in a monitoring area, acquiring radar coordinates of the target to be processed; according to the radar coordinates of the to-be-processed detection target and the conversion relation between the pre-calibrated radar coordinates and the PT coordinates of the dome camera, converting the radar coordinates into the PT coordinates of the to-be-processed detection target in the field of view of the dome camera; according to PT coordinates of the to-be-processed detection target, adjusting PTZ coordinates of the ball machine, wherein the PTZ coordinates are used for adjusting the angle of view of the ball machine; and determining the image coordinates of the to-be-processed detection target in the image picture shot by the dome camera according to the PTZ coordinates and the PT coordinates of the to-be-processed detection target, and sending the image coordinates to the display 1203.

And the display 1203 is used for displaying marks representing the to-be-processed detection targets in a superposition manner at the corresponding positions of the image coordinates of the to-be-processed detection targets in the image picture shot by the dome camera.

The Memory may include RAM (Random Access Memory ) or NVM (Non-Volatile Memory), such as at least one magnetic disk Memory. In a possible embodiment of the invention, the memory may also be at least one memory device located remotely from the radar control processor.

The processor may be a general-purpose processor, including a CPU (Central Processing Unit ), NP (Network Processor, network processor), etc.; but also DSP (Digital Signal Processing, digital signal processor), ASIC (Application Specific Integrated Circuit ), FPGA (Field-Programmable Gate Array, field programmable gate array) or other programmable logic device, discrete gate or transistor logic device, discrete hardware components.

The bold lines in fig. 12 indicate that the processor 1201 and the memory 1202 and the display 1203 implement information interaction through a data bus, which is, of course, only an example of implementing information interaction, and the processor 1201 and the memory 1202 and the display 1203 may also implement information interaction through wireless communication.

In addition, corresponding to the target tracking joint display method provided in the above embodiment, the embodiment of the present invention provides a machine-readable storage medium, in which a computer program is stored, and when the computer program is executed by a processor in an electronic device, all the steps of the target tracking joint display method provided in the embodiment of the present invention are implemented.

In this embodiment, the machine-readable storage medium stores a computer program for executing the target tracking joint display method provided by the embodiment of the present invention at runtime, so that it can realize: according to radar detection data of a to-be-processed detection target detected by radar equipment in a monitoring area, radar coordinates of the to-be-processed detection target are obtained, according to the radar coordinates of the to-be-processed detection target and a conversion relation between the pre-calibrated radar coordinates and PT coordinates of a dome camera, the radar coordinates are converted into PT coordinates of the to-be-processed detection target in a field of view of the dome camera, according to the PT coordinates of the to-be-processed detection target, PTZ coordinates of the dome camera are adjusted, according to the PTZ coordinates and the PT coordinates of the to-be-processed detection target, image coordinates of the to-be-processed detection target in an image picture shot by the dome camera are determined, and marks representing the to-be-processed detection target are displayed in a superposition mode at positions corresponding to the image coordinates in the image picture. By calibrating the radar equipment and the spherical camera to obtain the conversion relation between the radar coordinates and the spherical camera PT coordinates, the radar coordinates of the to-be-processed detection target detected by the radar equipment can be converted into the spherical camera PT coordinates, further, the PTZ coordinates of the spherical camera are adjusted according to the PT coordinates of the to-be-processed detection target, and the image coordinates of the to-be-processed detection target in the image frame are calculated according to the PTZ coordinates and the PT coordinates of the to-be-processed detection target. And the mark representing the detection target to be processed is displayed in a superimposed manner at the position corresponding to the image coordinates in the image picture, the detection target to be processed is intuitively displayed in the actual scene image picture shot by the dome camera, and the detection target to be processed is intuitively displayed for a common user, so that the usability of the security and protection system is improved.

For the embodiments of the target tracking joint display device, the security system, the electronic device and the machine-readable storage medium, the description is relatively simple, and the relevant parts refer to the part of the description of the method embodiments, since the related method content is basically similar to the method embodiments.

It is noted that relational terms such as first and second, and the like are used solely to distinguish one entity or action from another entity or action without necessarily requiring or implying any actual such relationship or order between such entities or actions. Moreover, the terms "comprises," "comprising," or any other variation thereof, are intended to cover a non-exclusive inclusion, such that a process, method, article, or apparatus that comprises a list of elements does not include only those elements but may include other elements not expressly listed or inherent to such process, method, article, or apparatus. Without further limitation, an element defined by the phrase "comprising one … …" does not exclude the presence of other like elements in a process, method, article, or apparatus that comprises the element.

In this specification, each embodiment is described in a related manner, and identical and similar parts of each embodiment are all referred to each other, and each embodiment mainly describes differences from other embodiments. In particular, for the target tracking joint display device, security system, electronic device, and machine-readable storage medium embodiments, since they are substantially similar to the method embodiments, the description is relatively simple, and reference should be made to the description of the method embodiments for relevant points.

The foregoing description is only of the preferred embodiments of the present invention and is not intended to limit the scope of the present invention. Any modification, equivalent replacement, improvement, etc. made within the spirit and principle of the present invention are included in the protection scope of the present invention.

Claims

1. A target tracking joint display method, the method comprising:

superposing and displaying marks representing the detection targets to be processed at the positions corresponding to the image coordinates in the image picture;

wherein, according to the PTZ coordinates and the PT coordinates of the to-be-processed detection target, determining the image coordinates of the to-be-processed detection target in the image picture shot by the dome camera includes:

determining PT coordinates of the center of a view field of the dome camera, and determining image coordinates of a center point of an image picture according to the image size of the image picture shot by the dome camera;

according to the PT coordinates of the to-be-processed detection target and the PT coordinates of the center of the view field, calculating a first included angle between the transverse deflection angle of the to-be-processed detection target and the transverse deflection angle of the center of the view field, and a second included angle between the longitudinal deflection angle of the to-be-processed detection target and the longitudinal deflection angle of the center of the view field;

And calculating the image coordinates of the detection target to be processed in the image picture shot by the ball machine according to the image coordinates of the central point of the image picture, the first included angle, the second included angle and the field angle of the ball machine.

2. The method according to claim 1, wherein the detection targets to be processed are plural;

3. The method according to claim 2, wherein the probe target to be processed comprises the target of interest and a target of non-interest; the step of displaying the mark representing the detection target to be processed in a superposition manner at the position corresponding to the image coordinate in the image picture comprises the following steps:

4. The method according to claim 1, wherein the method further comprises:

5. The method of claim 1, wherein the mark is a dot or a box.

6. The method of claim 1, wherein the number of radar devices is at least one and the number of cameras is a plurality;

7. A security system, characterized in that the system comprises radar equipment, a ball machine and a control device, wherein the control device is arranged in the ball machine or outside the ball machine;

the control device is used for acquiring radar coordinates of a target to be processed according to radar detection data of the target to be processed detected by the radar equipment in a monitoring area; according to the radar coordinates of the to-be-processed detection target and the conversion relation between the pre-calibrated radar coordinates and the PT coordinates of the dome camera, converting the radar coordinates into the PT coordinates of the to-be-processed detection target in the field of view of the dome camera; according to the PT coordinates of the to-be-processed detection target, adjusting the PTZ coordinates of the ball machine, wherein the PTZ coordinates are used for adjusting the angle of view of the ball machine; determining the image coordinates of the detection target to be processed in the image picture according to the PTZ coordinates and the PT coordinates of the detection target to be processed; superposing and displaying marks representing the detection targets to be processed at the positions corresponding to the image coordinates in the image picture;

8. The system of claim 7, wherein the plurality of probe targets to be processed;

9. The system of claim 8, wherein the probe target to be processed comprises the target of interest and a target that is not of interest; the control device is specifically configured to, when implementing the superposition display of the mark representing the detection target to be processed at the position corresponding to the image coordinate in the image frame:

10. The system of claim 7, wherein the control device is further configured to:

11. The system of claim 7, wherein the markers are dots or boxes.

12. The system of claim 7, wherein the number of radar devices is at least one and the number of cameras is a plurality;

13. An electronic device comprising a processor, a memory, and a display, wherein,

the memory is used for storing a computer program;

the processor is configured to at least implement, when executing the computer program stored on the memory: according to radar detection data of a target to be processed detected by radar equipment in a monitoring area, acquiring radar coordinates of the target to be processed; according to the radar coordinates of the to-be-processed detection target and the conversion relation between the pre-calibrated radar coordinates and the PT coordinates of the dome camera, converting the radar coordinates into the PT coordinates of the to-be-processed detection target in the field of view of the dome camera; according to the PT coordinates of the to-be-processed detection target, adjusting the PTZ coordinates of the ball machine, wherein the PTZ coordinates are used for adjusting the angle of view of the ball machine; determining image coordinates of the to-be-processed detection target in an image picture shot by the dome camera according to the PTZ coordinates and PT coordinates of the to-be-processed detection target, and sending the image coordinates to the display;

The display is used for displaying marks representing the detection targets to be processed in a superposition mode at positions corresponding to the image coordinates in the image picture;